Hello, respected maintainers, and reviewers!
Again, this is Surya!

I've completed interpolation_methods.hpp, now I'm refactoring tolerances.hpp.

This PR addresses,

1. Seperation of Concerns, the interface is seperated from the implementation.
2. All non-inline functions are moved to tolerances.cpp for reduction in compile time.
3. Addition of extensive comments and descriptions.
4. Addition of useful utility functions.
5. Addition of explicit tolerances.

NOTE:
About the changes, in tolerances yaml, should I keep it, or not?

NOTE:
About pre-commit failures, I'll address them after the PR is ready for merger.

And I'm getting an error, and I'm unsure how to deal with it, if you can help, I'll appreciate it very much.

Error Description:

/home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/build/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_parameters.hpp:242:26: error: ‘struct joint_trajectory_controller::StackParams::Constraints’ has no member named ‘__map_joints’; did you mean ‘MapJoints’?
    242 |       output.constraints.__map_joints.trajectory.position = params.constraints.__map_joints.trajectory.position;

I don't know, why I'm having this. I didn't changed the field name in yaml, so it should still be accessible via joints_map, but I'm getting errors. And when I change __map_joints to MapJoints in yaml, I get,

/root/target_ws/src/ros2_controllers/joint_trajectory_controller/src/tolerances.cpp:83:50: error: ‘const struct joint_trajectory_controller::Params::Constraints’ has no member named ‘joints_map’; did you mean ‘Mapjoints’?
     83 |     auto const & joint_constraints = constraints.joints_map.at(joint);
        |                                                  ^~~~~~
        |                                                  Mapjoints

But previous function was able to compile with joints_map, I tried many things, but I got error everytime.

Tags:
@christophfroehlich, @saikishor